Shock absorber damping force fade self-learning method, controller, and storage medium

Abstract

The application provides a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium, and the method comprises the following steps: obtaining current driving condition information, current shock absorber speed information and current shock absorber height information of a target vehicle; according to the current driving condition information, searching for standard shock absorber speed information and standard shock absorber height information in a standard shock absorber database created in advance under a corresponding driving condition; according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information, judging whether the damping force of the shock absorber attenuates; if yes, calculating a current compensation value of a shock absorber electromagnetic valve according to the current shock absorber height information and the standard shock absorber height information. The application can effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by the performance attenuation of the shock absorber, and improve the smoothness of the vehicle during driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium. BACKGROUND

[0002] The automobile shock absorber is an important component in the automobile suspension system, which can reduce the vibration and jolt of the vehicle due to the uneven road surface during driving, and improve the driving comfort and stability of the vehicle. With the continuous development of the automobile industry and the increasing demand for driving comfort and safety, the automobile shock absorber is also constantly evolving and improving. The automobile shock absorber usually needs to be replaced after about 100,000 kilometers of cumulative driving. Taking a family car with an average annual driving distance of 20,000 kilometers as an example, the service life of the shock absorber is about 5 years. However, if the vehicle mainly drives on good roads, the service life of the shock absorber may be extended. The shock absorber is a key consumable part, and its performance will gradually decrease with the increase of the mileage. When the performance of the shock absorber decreases, the damping force will attenuate, which may cause the chassis feeling to be poor, the ride comfort to be reduced, the handling performance to be decreased, and the lateral support force to be insufficient.

[0003] It should be noted that the information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium, which not only can effectively alleviate the problem of poor vehicle body control and reduced ride comfort caused by the performance attenuation of the shock absorber, and improve the smoothness of the vehicle during driving, but also can effectively prolong the service life of the shock absorber.

[0005] To achieve the above purpose, the present application provides a shock absorber damping force attenuation self-learning method, which comprises:

[0006] obtaining the current driving condition information, the current shock absorber speed information and the current shock absorber height information of the target vehicle, wherein the current driving condition information includes the current road condition information and the current vehicle condition information;

[0007] According to the current driving condition information, the standard shock absorber speed information and the standard shock absorber height information under the corresponding driving condition are found out in the pre-created standard shock absorber database, wherein the standard shock absorber speed information and the standard shock absorber height information under different driving conditions are stored in the standard shock absorber database;

[0008] determining whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information;

[0009] If yes, calculating a current compensation value of the shock absorber solenoid according to the current shock absorber height information and the standard shock absorber height information.

[0010] Optionally, the current vehicle condition information includes at least two of current vehicle speed information, current vehicle mode information, current driver operation action information and current tire pressure information.

[0011] Optionally, the determining whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information includes:

[0012] calculating a speed deviation value according to the current shock absorber speed information and the standard shock absorber speed information;

[0013] calculating a height deviation value according to the current shock absorber height information and the standard shock absorber height information;

[0014] If the absolute value of the speed deviation value is greater than a preset speed deviation threshold value and the absolute value of the height deviation value is greater than a preset height deviation threshold value, it is determined that the damping force of the shock absorber is attenuated, otherwise, it is determined that the damping force of the shock absorber is not attenuated.

[0015] Optionally, the standard shock absorber database is created by the following steps:

[0016] obtaining shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset factory time, or obtaining shock absorber speed data and shock absorber height data of a plurality of test vehicles of the same model as the target vehicle and within a preset factory time under different driving conditions;

[0017] for each driving condition:

[0018] preprocessing the shock absorber speed data and the shock absorber height data under the driving condition;

[0019] obtaining the standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition;

[0020] obtaining the standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition;

[0021] Bind the road condition information and vehicle condition information of different driving conditions with the standard shock absorber speed information and the standard shock absorber height information under the driving condition, and store them in the pre-created database, so as to create the standard shock absorber database.

[0022] Optionally, the shock absorber speed data and the shock absorber height data under the driving condition are pre-processed, including:

[0023] Delete the shock absorber speed value greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition;

[0024] Delete the shock absorber height value greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition.

[0025] Optionally, the standard shock absorber speed information under the driving condition is obtained according to the pre-processed shock absorber speed data under the driving condition, including:

[0026] The standard shock absorber speed information under the driving condition is obtained according to the average value of all shock absorber speed values in the pre-processed shock absorber speed data under the driving condition;

[0027] The standard shock absorber height information under the driving condition is obtained according to the pre-processed shock absorber height data under the driving condition, including:

[0028] The standard shock absorber height information under the driving condition is obtained according to the average value of all shock absorber height values in the pre-processed shock absorber height data under the driving condition.

[0029] Optionally, the standard shock absorber database is stored in a cloud server.

[0030] Optionally, the shock absorber damping force attenuation self-learning method further includes:

[0031] Adjust the current flowing through the shock absorber electromagnetic valve according to the current compensation value to adjust the damping force of the shock absorber.

[0032] To achieve the above purpose, the application also provides a suspension controller, including a processor and a memory, the memory stores a computer program, and the computer program is executed by the processor to realize the above-mentioned shock absorber damping force attenuation self-learning method.

[0033] To achieve the above purpose, the application also provides a readable storage medium, the readable storage medium stores a computer program, and the computer program is executed by the processor to realize the above-mentioned shock absorber damping force attenuation self-learning method.

[0034] Compared with the prior art, the damper damping force attenuation self-learning method, the suspension controller and the readable storage medium provided by the application have the following beneficial effects:

[0035] The damper damping force attenuation self-learning method provided by the application comprises the following steps: obtaining current driving condition information, current damper speed information and current damper height information of a target vehicle; searching for standard damper speed information and standard damper height information under a corresponding driving condition in a standard damper database created in advance according to the current driving condition information; judging whether the damping force of the damper attenuates or not according to the current damper speed information, the current damper height information, the standard damper speed information and the standard damper height information; and calculating a current compensation value of a damper solenoid according to the current damper height information and the standard damper height information when it is determined that the damping force of the damper attenuates. As can be seen, the damper damping force attenuation self-learning method provided by the application adopts a damper attenuation self-learning compensation strategy based on big data, which can effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by damper performance attenuation, improve the smoothness during vehicle driving, and effectively prolong the service life of the damper after the vehicle drives for a long distance or for a long time. In addition, since the current driving condition information, the current damper speed information and the current damper height information of the target vehicle all come from the vehicle CAN bus, no additional sensors are needed, so the damper damping force attenuation self-learning method provided by the application has wide application range and strong implementability, and can be applied to most vehicle models on the market.

[0036] Since the suspension controller and the readable storage medium provided by the application belong to the same inventive concept as the damper damping force attenuation self-learning method provided by the application, the suspension controller and the readable storage medium provided by the application at least have all the beneficial effects of the damper damping force attenuation self-learning method provided by the application, and the related description of the beneficial effects of the suspension controller and the readable storage medium provided by the application can refer to the related description of the beneficial effects of the damper damping force attenuation self-learning method provided by the application in the foregoing, which will not be described again here. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A flowchart of the damper damping force attenuation self-learning method in an embodiment of the application;

[0038] Figure 2 A flowchart of the damper damping force attenuation self-learning method provided by an embodiment of the application;

[0039] Figure 3A block diagram of a suspension controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] The damper damping force attenuation self-learning method, the suspension controller and the readable storage medium according to the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present application will be more apparent according to the following description. It should be noted that the accompanying drawings are very simplified and all use non-precise proportions, only to facilitate, clearly assist the purpose of the present application. In order to make the purpose, features and advantages of the present application more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size and the like shown in the drawings attached to the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the implementation of the present application. Any modification of structure, change of proportion relationship or adjustment of size, as long as it is the same or similar to the effect and purpose that can be achieved by the present application, should still fall within the scope of the technology disclosed by the present application.

[0041] It should be noted that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations exist in any such actual relationship or order. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element. The singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in the sense of "and / or", the term "a number of" is generally used in the sense of "at least one", the term "at least two" is generally used in the sense of "two or more", and the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0042] Moreover, in the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Illustrative expressions of the above terms do not necessarily refer to the same embodiment or example in the present specification. Also, the specific feature, structure, material or characteristic described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0043] The core idea of the present application is to provide a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium, which not only effectively alleviates the problem of poor vehicle body control and reduced ride comfort caused by the performance attenuation of the shock absorber, but also prolongs the service life of the shock absorber.

[0044] It should be noted that the shock absorber damping force attenuation self-learning method provided by the present application can be applied to the suspension controller provided by the present application, which can be configured on a vehicle, wherein the vehicle can include a general motor vehicle, such as a passenger vehicle including a sport utility vehicle (SUV), a bus, a truck, various commercial vehicles, and a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, etc. In addition, it should be noted that, as understood by those skilled in the art, the shock absorber damping force attenuation self-learning method provided by the present application can be applied to other types of damping adjustable shock absorbers in addition to compression-tension dual-valve hydraulic adjustable shock absorbers.

[0045] To achieve the above idea, the present application provides a shock absorber damping force attenuation self-learning method, please refer to Figure 1 which is a flowchart of the shock absorber damping force attenuation self-learning method provided by an embodiment of the present application. As shown in Figure 1 the shock absorber damping force attenuation self-learning method provided by the present application includes the following steps:

[0046] Step S100, obtaining the current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle, wherein the current driving condition information includes current road condition information and current vehicle condition information.

[0047] Step S200, according to the current driving condition information, find out the standard shock absorber speed information and the standard shock absorber height information under the corresponding driving condition in the pre-created standard shock absorber database, wherein the standard shock absorber database stores the standard shock absorber speed information and the standard shock absorber height information under different driving conditions.

[0048] Step S300, according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information, judge whether the damping force of the shock absorber is attenuated.

[0049] If yes, execute step S400, according to the current shock absorber height information and the standard shock absorber height information, calculate the current compensation value of the shock absorber solenoid valve.

[0050] Therefore, the shock absorber damping force attenuation self-learning method provided by the present application can effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by shock absorber performance attenuation, improve the smoothness during vehicle driving, and effectively prolong the service life of the shock absorber after the vehicle drives for a long distance or a long time. In addition, since the current driving condition information, the current shock absorber speed information and the current shock absorber height information of the target vehicle are all from the vehicle CAN bus, no additional sensors are needed, so the shock absorber damping force attenuation self-learning method provided by the present application has wide application range and strong implementability, and can be applied to most vehicle models on the market.

[0051] It should be noted that, as understood by those skilled in the art, the execution subject of the shock absorber damping force attenuation self-learning method provided by the present application is the suspension controller. It should also be noted that, as understood by those skilled in the art, the driving condition information, shock absorber speed information and shock absorber height information of the vehicle can be collected through the signals provided on the vehicle CAN line. Specifically, the shock absorber height information can be collected by the vehicle's own height sensor, and the shock absorber speed information can be collected by the vehicle's own acceleration sensor. In addition, it should be noted that, as understood by those skilled in the art, the current road condition information can be obtained according to which one of long wave road, short wave road, wrung plate road, deceleration zone and pothole the target vehicle is currently passing through. In addition, it should be noted that, as understood by those skilled in the art, the standard shock absorber speed information refers to the speed information of the shock absorber under the condition that the performance has not attenuated; the standard shock absorber height information refers to the height information of the shock absorber under the condition that the performance has not attenuated.

[0052] In some exemplary embodiments, the current vehicle condition information includes at least two of current vehicle speed information, current vehicle mode information, current driver operation action information, and current tire pressure information. Specifically, the vehicle mode includes an economy mode, a normal mode, and a sport mode. The driver operation includes throttle pedal operation, steering wheel operation, etc.

[0053] Preferably, in step S100, the current driving condition information such as the current road condition information, the current vehicle speed information, the current vehicle mode information, the current driver operation action information, and the current tire pressure information is acquired simultaneously. After the current driving condition information such as the current road condition information, the current vehicle speed information, the current vehicle mode information, the current driver operation action information, and the current tire pressure information is acquired, the standard shock absorber speed information and the standard shock absorber height information under the corresponding driving condition (the same road condition, the same vehicle speed range, the same vehicle mode, the same driver operation action, and the same tire pressure range) can be found in the pre-created standard shock absorber database.

[0054] In some exemplary embodiments, the determining whether the damping force of the shock absorber decays according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information, and the standard shock absorber height information includes:

[0055] calculating a speed deviation value according to the current shock absorber speed information and the standard shock absorber speed information;

[0056] calculating a height deviation value according to the current shock absorber height information and the standard shock absorber height information;

[0057] if the absolute value of the speed deviation value is greater than a preset speed deviation threshold value and the absolute value of the height deviation value is greater than a preset height deviation threshold value, determining that the damping force of the shock absorber decays, otherwise, determining that the damping force of the shock absorber does not decay.

[0058] Therefore, by determining that the damping force of the shock absorber decays only when the deviations between the current shock absorber speed and the standard shock absorber speed and between the current shock absorber height and the standard shock absorber height are both large, the accuracy of the shock absorber damping force decay self-learning method provided by the present application can be effectively improved.

[0059] It should be noted that, as can be understood by those skilled in the art, the present application does not limit the specific values of the preset speed deviation threshold value and the preset height deviation threshold value, and the specific values of the preset speed deviation threshold value and the preset height deviation threshold value can be obtained through real vehicle calibration.

[0060] In some exemplary embodiments, the shock absorber damping force decay self-learning method provided by the present application further includes:

[0061] Step S500: Adjust the current flowing through the solenoid valve of the vibration damper according to the current compensation value, so as to adjust the damping force of the vibration damper.

[0062] Specifically, the current compensation value can be added to the original current to adjust the current flowing through the solenoid valve of the damper, thereby adjusting the damping force of the damper.

[0063] Further, after adjusting the current flowing through the shock absorber solenoid valve according to the current compensation value to adjust the damping force of the shock absorber, under the same driving conditions, the current shock absorber speed information and current shock absorber height information of the target vehicle are acquired again, and step S300 is executed: based on the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information, and the standard shock absorber height information, it is determined whether the damping force of the shock absorber has decreased; if it is determined that the damping force of the shock absorber has still decreased, step S400 is executed: based on the current shock absorber height information and the standard shock absorber height information, the current compensation value of the shock absorber solenoid valve is calculated, and steps S300 to S500 are repeated until the damping force of the shock absorber no longer decreases.

[0064] In some exemplary embodiments, the standard shock absorber database is stored on a cloud server. Because cloud servers offer advantages such as simplicity, efficiency, security, reliability, and scalable processing capacity, storing the standard shock absorber database in the cloud not only effectively improves the security of the data stored in the database but also allows the suspension controller to quickly retrieve the standard shock absorber speed and height information corresponding to the current driving condition from the standard shock absorber database.

[0065] In some exemplary implementations, the standard vibration damper database is created through the following steps:

[0066] Obtain shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset manufacturing time, or obtain shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle within a preset manufacturing time under different driving conditions.

[0067] For each driving condition:

[0068] The shock absorber speed data and shock absorber height data under this driving condition are preprocessed respectively;

[0069] Obtain the standard shock absorber speed information under the driving condition based on the pre-processed shock absorber speed data under the driving condition;

[0070] Obtain the standard shock absorber height information under the driving condition based on the pre-processed shock absorber height data under the driving condition;

[0071] The road condition information and vehicle status information under different driving conditions are bound with the standard shock absorber speed information and standard shock absorber height information under that driving condition, and stored in a pre-created database to create the standard shock absorber database.

[0072] Therefore, by acquiring the shock absorber speed and height data of the target vehicle under different driving conditions within a preset manufacturing period, or by acquiring the shock absorber speed and height data of multiple test vehicles of the same model as the target vehicle within a preset manufacturing period under different driving conditions, it is possible to effectively ensure that the standard shock absorber database is created based on a large amount of real vehicle data. This effectively guarantees the accuracy of the standard shock absorber speed and height information for each driving condition stored in the standard shock absorber database. For each driving condition, the shock absorber speed and height data under that driving condition are preprocessed. Then, the standard shock absorber speed information for that driving condition is obtained based on the preprocessed shock absorber speed data, and the standard shock absorber height information for that driving condition is obtained based on the preprocessed shock absorber height data. This further effectively guarantees the accuracy of the standard shock absorber speed and height information for each driving condition stored in the standard shock absorber database.

[0073] Specifically, the target vehicle's own acceleration and height sensors can be used to collect shock absorber speed and height data under different driving conditions multiple times within a preset manufacturing period (e.g., within six months of manufacture), and then upload the data to a cloud server via the suspension controller. Alternatively, multiple (e.g., 100) test vehicles of the same model as the target vehicle within a preset manufacturing period (e.g., within six months of manufacture) can be selected and driven under each driving condition. The shock absorber speed and height data of these vehicles can be collected using their own acceleration and height sensors, and then uploaded to the cloud server via the vehicle's own suspension controller.

[0074] After receiving shock absorber speed and height data under different driving conditions, the cloud server preprocesses the shock absorber speed and height data for each driving condition. Then, it calculates the standard shock absorber speed and height information for that driving condition based on the preprocessed shock absorber speed data. Finally, it binds the road condition and vehicle status information for each driving condition with the standard shock absorber speed and height information and stores them in a pre-created database, thus creating the standard shock absorber database.

[0075] It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific value of the preset manufacturing time. The preset manufacturing time can be 6 months or other values, and the specific value of the preset manufacturing time can be set according to actual needs.

[0076] In some exemplary embodiments, the preprocessing of the shock absorber speed data and shock absorber height data under the driving condition includes:

[0077] Delete the shock absorber speed values ​​in the shock absorber speed data under this driving condition that are greater than the first preset speed threshold or less than the second preset speed threshold;

[0078] Delete the shock absorber height values ​​in the shock absorber height data under this driving condition that are greater than the first preset height threshold or less than the second preset height threshold.

[0079] Therefore, for each driving condition, by deleting shock absorber speed values ​​that are greater than the first preset speed threshold or less than the second preset speed threshold from the shock absorber speed data under that driving condition, shock absorber speed values ​​that are too high or too low can be effectively removed, thereby ensuring the accuracy of the standard shock absorber speed information subsequently obtained under that driving condition; similarly, by deleting shock absorber height values ​​that are greater than the first preset height threshold or less than the second preset height threshold from the shock absorber height data under that driving condition, shock absorber height values ​​that are too high or too low can be effectively removed, thereby ensuring the accuracy of the standard shock absorber height information obtained under that driving condition.

[0080] It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific values ​​of the first preset speed threshold, the second preset speed threshold, the first preset height threshold, and the second preset height threshold, and the specific values ​​of the first preset speed threshold, the second preset speed threshold, the first preset height threshold, and the second preset height threshold can be set according to actual needs.

[0081] In some exemplary embodiments, obtaining standard shock absorber speed information for the driving condition based on pre-processed shock absorber speed data under that driving condition includes:

[0082] Based on the average value of all shock absorber speed values ​​in the pre-processed shock absorber speed data under this driving condition, obtain the standard shock absorber speed information under this driving condition;

[0083] The step of obtaining the standard shock absorber height information under the driving condition based on the pre-processed shock absorber height data under the driving condition includes:

[0084] Based on the average of all shock absorber height values ​​in the preprocessed shock absorber height data under this driving condition, the standard shock absorber height information for this driving condition is obtained.

[0085] Therefore, for each driving condition, by averaging all the shock absorber speed values ​​in the preprocessed shock absorber speed data under that driving condition to obtain the standard shock absorber speed information for that driving condition, the accuracy of the obtained standard shock absorber speed information for that driving condition can be effectively guaranteed; similarly, by averaging all the shock absorber height values ​​in the preprocessed shock absorber height data under that driving condition to obtain the standard shock absorber height information for that driving condition, the accuracy of the obtained standard shock absorber height information for that driving condition can be effectively guaranteed.

[0086] Please continue to refer to this. Figure 2 This is an overall flowchart of the self-learning method for damper damping force attenuation provided in one embodiment of the present invention. Figure 2 As shown, the self-learning method for damper damping force attenuation provided by this invention mainly includes the following steps:

[0087] 1) Select 100 vehicles manufactured within the last six months and drive them repeatedly under the same road conditions (e.g., long-wave roads, short-wave roads, washboard roads, deceleration zones, potholes, etc.) at the same speed, in the same vehicle mode, with the same driver operation, and with the same tire pressure. Collect data such as the shock absorber height and speed using the vehicle's own height and acceleration sensors, and upload the data to the cloud server via the vehicle's suspension controller. Alternatively, collect data such as the shock absorber height and speed of the vehicles driven multiple times within the last six months of manufacture at different speeds, in different vehicle modes, with different driver operation, and with different tire pressures under different road conditions (e.g., long-wave roads, short-wave roads, washboard roads, deceleration zones, potholes, etc.), and upload the data to the cloud server via the suspension controller.

[0088] 2) The cloud server preprocesses the received shock absorber height and speed data, removing values ​​that are too high or too low, or too high or too low, in order to select appropriate ranges of shock absorber height and speed data for subsequent processing.

[0089] 3) The cloud server uses an average value method to post-process the pre-processed shock absorber height data and shock absorber speed data within a suitable range to obtain standard shock absorber height values ​​and standard shock absorber speed values.

[0090] 4) The cloud server binds the road condition information and vehicle status information under different driving conditions with the standard shock absorber speed value and standard shock absorber height value under that driving condition, and stores them in a pre-created database, thereby creating a standard shock absorber database.

[0091] 5) During subsequent driving, the suspension controller collects information such as shock absorber speed and height values ​​and compares them with the standard shock absorber speed and height values ​​under the same driving conditions in the standard shock absorber database stored in the cloud server. If the actual collected shock absorber speed value deviates significantly from the standard shock absorber speed value under the corresponding driving conditions, and the actual collected shock absorber height value deviates significantly from the corresponding standard shock absorber height value, it is determined that the shock absorber damping force has decreased, and the solenoid valve current compensation value needs to be calculated. Specifically, the difference between the actual collected shock absorber height value and the standard shock absorber height value under the corresponding driving conditions can be used as input to calculate the solenoid valve current compensation value.

[0092] 6) The suspension controller records the calculated current compensation value and adjusts the current flowing through the shock absorber solenoid valve according to the current compensation value to adjust the damping force of the shock absorber. At the same time, the vehicle keeps the current driving conditions unchanged and repeats step 5) 2 to 3 times until it is determined that the damping force of the shock absorber no longer decays.

[0093] Based on the same inventive concept, this invention also provides a suspension controller, please refer to... Figure 3 This is a block diagram of a suspension controller provided in one embodiment of the present invention. Figure 3 As shown, the suspension controller includes a processor 101 and a memory 103. The memory 103 stores a computer program. When the computer program is executed by the processor 101, it implements the self-learning method for damper damping force attenuation described above. Since the suspension controller provided by this invention and the self-learning method for damper damping force attenuation provided by this invention belong to the same inventive concept, the suspension controller provided by this invention has at least all the beneficial effects of the self-learning method for damper damping force attenuation provided by this invention. Therefore, the relevant descriptions of the beneficial effects of the suspension controller provided by this invention can refer to the relevant descriptions of the beneficial effects of the self-learning method for damper damping force attenuation provided by this invention above, and will not be repeated here.

[0094] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the suspension controller also includes a communication interface 102 and a communication bus 104, wherein the processor 101, the communication interface 102, and the memory 103 communicate with each other through the communication bus 104. The communication bus 104 includes, but is not limited to, a CAN bus. For ease of illustration, only one thick line is used to represent it in the figure, but this does not mean that there is only one bus or one type of bus. The communication interface 102 is used for communication between the suspension controller and other vehicle controllers (such as the vehicle controller, motor controller, etc., not shown in the figure). The communication bus 104 connects the various dispersed nodes of the suspension controller and other vehicle controllers (such as the vehicle controller, motor controller, etc., not shown in the figure) into a closed-loop system, enabling each vehicle controller to communicate and transmit data in multiple working states (parking state, charging state, starting state, running state, vehicle forward and reverse state, regenerative braking state, mechanical braking state, general fault state, major fault state), thereby realizing the vehicle control function.

[0095] The processor 101 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 101 is the control center of the suspension controller, connecting various parts of the entire suspension controller via various interfaces and lines.

[0096] The memory 103 can be used to store the computer program. The processor 101 implements various functions of the suspension controller by running or executing the computer program stored in the memory 103 and calling data stored in the memory 103. The memory 103 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable memory (PROM), electrically programmable memory (EPROM), electrically erasable programmable memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, random access memory is available in a variety of forms, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous random access memory (SDRAM), dual data rate synchronous random access memory (DDRSDRAM), enhanced synchronous random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), memory bus direct random access memory (RDRAM), direct memory bus dynamic random access memory (DRDRAM), and memory bus dynamic random access memory (RDRAM), etc.

[0097] This invention also provides a readable storage medium storing a computer program. When executed by a processor, the computer program can implement the self-learning method for damper damping force attenuation described above. Since the readable storage medium provided by this invention and the self-learning method for damper damping force attenuation provided by this invention belong to the same inventive concept, the readable storage medium provided by this invention possesses at least all the beneficial effects of the self-learning method for damper damping force attenuation provided by this invention. Therefore, the relevant descriptions of the beneficial effects of the readable storage medium provided by this invention can refer to the relevant descriptions of the beneficial effects of the self-learning method for damper damping force attenuation provided by this invention above, and will not be repeated here.

[0098] The readable storage medium provided by this invention can be any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not exhaustive) of computer-readable storage media include: electrical connections having one or more wires, portable computer hard disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device.

[0099] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0100] In summary, compared with the prior art, the shock absorber damping force attenuation self-learning method, suspension controller, and readable storage medium provided by the present invention have the following beneficial effects:

[0101] This invention first acquires the current driving condition information, current shock absorber speed information, and current shock absorber height information of the target vehicle; then, based on the current driving condition information, it searches for the standard shock absorber speed information and standard shock absorber height information under the corresponding driving condition in a pre-created standard shock absorber database; next, based on the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information, and the standard shock absorber height information, it determines whether the damping force of the shock absorber has decreased; finally, when determining that the damping force of the shock absorber has decreased, it calculates the current compensation value of the shock absorber solenoid valve based on the current shock absorber height information and the standard shock absorber height information. Therefore, this invention, by employing a shock absorber attenuation self-learning compensation strategy based on big data, can not only effectively alleviate the problems of poor vehicle control and decreased ride comfort caused by shock absorber performance degradation, and improve the smoothness of vehicle operation, but also effectively extend the service life of the shock absorber after the vehicle has traveled a long distance or for a long time. Furthermore, since the target vehicle's current driving condition information, current shock absorber speed information, and current shock absorber height information all come from the vehicle's CAN bus, no additional sensors are required. Therefore, this invention has a wide range of applications and strong feasibility, and can be applied to most models on the market.

[0102] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0103] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0104] It should also be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A self-learning method for damping force attenuation in a vibration damper, characterized in that, include: The current driving condition information, current shock absorber speed information, and current shock absorber height information of the target vehicle are obtained, wherein the current driving condition information includes current road condition information and current vehicle status information; Based on the current driving condition information, the standard shock absorber speed information and standard shock absorber height information for the corresponding driving condition are retrieved from the pre-created standard shock absorber database. The standard shock absorber database stores standard shock absorber speed information and standard shock absorber height information for different driving conditions. For each driving condition, the standard shock absorber speed information for that driving condition is obtained by deleting shock absorber speed values ​​that are greater than a first preset speed threshold or less than a second preset speed threshold from the shock absorber speed data for that driving condition. Similarly, the standard shock absorber height information for that driving condition is obtained by deleting shock absorber height values ​​that are greater than a first preset height threshold or less than a second preset height threshold from the shock absorber height data for that driving condition. Based on the current vibration damper speed information, the current vibration damper height information, the standard vibration damper speed information, and the standard vibration damper height information, determine whether the damping force of the vibration damper has decreased; If so, the current compensation value of the damper solenoid valve is calculated based on the current damper height information and the standard damper height information.

2. The self-learning method for damper damping force attenuation according to claim 1, characterized in that, The current vehicle status information includes at least two of the following: current vehicle speed, current vehicle mode, current driver operation, and current tire pressure.

3. The self-learning method for damper damping force attenuation according to claim 1, characterized in that, The step of determining whether the damping force of the vibration damper has decreased based on the current vibration damper speed information, the current vibration damper height information, the standard vibration damper speed information, and the standard vibration damper height information includes: Calculate the speed deviation value based on the current damper speed information and the standard damper speed information; Calculate the height deviation value based on the current damper height information and the standard damper height information; If the absolute value of the speed deviation is greater than a preset speed deviation threshold and the absolute value of the height deviation is greater than a preset height deviation threshold, then it is determined that the damping force of the shock absorber has decreased; otherwise, it is determined that the damping force of the shock absorber has not decreased.

4. The self-learning method for damper damping force attenuation according to claim 1, characterized in that, The standard vibration damper database is created using the following steps: Obtain shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset manufacturing time, or obtain shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle within a preset manufacturing time under different driving conditions. For each driving condition: The shock absorber speed data and shock absorber height data under the driving condition are preprocessed as follows: Shock absorber speed values ​​that are greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition are deleted; shock absorber height values ​​that are greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition are deleted. Obtain the standard shock absorber speed information under the driving condition based on the pre-processed shock absorber speed data under the driving condition; Obtain the standard shock absorber height information under the driving condition based on the pre-processed shock absorber height data under the driving condition; The road condition information and vehicle status information under different driving conditions are bound with the standard shock absorber speed information and standard shock absorber height information under that driving condition, and stored in a pre-created database to create the standard shock absorber database.

5. The self-learning method for damper damping force attenuation according to claim 4, characterized in that, The step of obtaining standard shock absorber speed information under the driving condition based on the pre-processed shock absorber speed data under the driving condition includes: Based on the average value of all shock absorber speed values ​​in the pre-processed shock absorber speed data under this driving condition, obtain the standard shock absorber speed information under this driving condition; The step of obtaining the standard shock absorber height information under the driving condition based on the pre-processed shock absorber height data under the driving condition includes: Based on the average of all shock absorber height values ​​in the preprocessed shock absorber height data under this driving condition, the standard shock absorber height information for this driving condition is obtained.

6. The self-learning method for damper damping force attenuation according to claim 1, characterized in that, The standard vibration damper database is stored on a cloud server.

7. The self-learning method for damper damping force attenuation according to claim 1, characterized in that, Also includes: The current flowing through the solenoid valve of the vibration damper is adjusted according to the current compensation value to adjust the damping force of the vibration damper.

8. A suspension controller, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the self-learning method for damper damping force attenuation as described in any one of claims 1 to 7.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, implements the self-learning method for damper damping force attenuation as described in any one of claims 1 to 7.

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